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Fix probe with multi-endstops (#16793)

pull/1/head
Robert Stein 5 years ago
committed by GitHub
parent
86812432f3
commit
3a3429b1ef
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 50 additions and 61 deletions
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  1. 111
      Marlin/src/module/endstops.cpp

111
Marlin/src/module/endstops.cpp
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@ -529,11 +529,11 @@ void Endstops::update() {
// With Dual X, endstops are only checked in the homing direction for the active extruder
#if ENABLED(DUAL_X_CARRIAGE)
#define E0_ACTIVE stepper.movement_extruder() == 0
#define X_MIN_TEST ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE))
#define X_MAX_TEST ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE))
#define X_MIN_TEST() ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE))
#define X_MAX_TEST() ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE))
#else
#define X_MIN_TEST true
#define X_MAX_TEST true
#define X_MIN_TEST() true
#define X_MAX_TEST() true
#endif
// Use HEAD for core axes, AXIS for others
@ -690,7 +690,7 @@ void Endstops::update() {
#define _ENDSTOP_HIT(AXIS, MINMAX) SBI(hit_state, _ENDSTOP(AXIS, MINMAX))
// Call the endstop triggered routine for single endstops
#define PROCESS_ENDSTOP(AXIS,MINMAX) do { \
#define PROCESS_ENDSTOP(AXIS, MINMAX) do { \
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX))) { \
_ENDSTOP_HIT(AXIS, MINMAX); \
planner.endstop_triggered(_AXIS(AXIS)); \
@ -698,36 +698,58 @@ void Endstops::update() {
}while(0)
// Call the endstop triggered routine for dual endstops
#define PROCESS_DUAL_ENDSTOP(AXIS1, AXIS2, MINMAX) do { \
const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1); \
#define PROCESS_DUAL_ENDSTOP(A, MINMAX) do { \
const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1); \
if (dual_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
_ENDSTOP_HIT(A, MINMAX); \
/* if not performing home or if both endstops were trigged during homing... */ \
if (!stepper.separate_multi_axis || dual_hit == 0b11) \
planner.endstop_triggered(_AXIS(AXIS1)); \
planner.endstop_triggered(_AXIS(A)); \
} \
}while(0)
#define PROCESS_TRIPLE_ENDSTOP(AXIS1, AXIS2, AXIS3, MINMAX) do { \
const byte triple_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(AXIS3, MINMAX)) << 2); \
#define PROCESS_TRIPLE_ENDSTOP(A, MINMAX) do { \
const byte triple_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(A##3, MINMAX)) << 2); \
if (triple_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
_ENDSTOP_HIT(A, MINMAX); \
/* if not performing home or if both endstops were trigged during homing... */ \
if (!stepper.separate_multi_axis || triple_hit == 0b111) \
planner.endstop_triggered(_AXIS(AXIS1)); \
planner.endstop_triggered(_AXIS(A)); \
} \
}while(0)
#define PROCESS_QUAD_ENDSTOP(AXIS1, AXIS2, AXIS3, AXIS4, MINMAX) do { \
const byte quad_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(AXIS3, MINMAX)) << 2) | (TEST_ENDSTOP(_ENDSTOP(AXIS4, MINMAX)) << 3); \
#define PROCESS_QUAD_ENDSTOP(A, MINMAX) do { \
const byte quad_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(A##3, MINMAX)) << 2) | (TEST_ENDSTOP(_ENDSTOP(A##4, MINMAX)) << 3); \
if (quad_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
_ENDSTOP_HIT(A, MINMAX); \
/* if not performing home or if both endstops were trigged during homing... */ \
if (!stepper.separate_multi_axis || quad_hit == 0b1111) \
planner.endstop_triggered(_AXIS(AXIS1)); \
planner.endstop_triggered(_AXIS(A)); \
} \
}while(0)
#if ENABLED(X_DUAL_ENDSTOPS)
#define PROCESS_ENDSTOP_X(MINMAX) PROCESS_DUAL_ENDSTOP(X, MINMAX)
#else
#define PROCESS_ENDSTOP_X(MINMAX) if (X_##MINMAX##_TEST()) PROCESS_ENDSTOP(X, MINMAX)
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
#define PROCESS_ENDSTOP_Y(MINMAX) PROCESS_DUAL_ENDSTOP(Y, MINMAX)
#else
#define PROCESS_ENDSTOP_Y(MINMAX) PROCESS_ENDSTOP(Y, MINMAX)
#endif
#if DISABLED(Z_MULTI_ENDSTOPS)
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_ENDSTOP(Z, MINMAX)
#elif NUM_Z_STEPPER_DRIVERS == 4
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_QUAD_ENDSTOP(Z, MINMAX)
#elif NUM_Z_STEPPER_DRIVERS == 3
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_TRIPLE_ENDSTOP(Z, MINMAX)
#else
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
#endif
#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
#if ENABLED(G38_PROBE_AWAY)
#define _G38_OPEN_STATE (G38_move >= 4)
@ -747,20 +769,12 @@ void Endstops::update() {
if (stepper.axis_is_moving(X_AXIS)) {
if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
#if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0)
#if ENABLED(X_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(X, X2, MIN);
#else
if (X_MIN_TEST) PROCESS_ENDSTOP(X, MIN);
#endif
PROCESS_ENDSTOP_X(MIN);
#endif
}
else { // +direction
#if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0)
#if ENABLED(X_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(X, X2, MAX);
#else
if (X_MAX_TEST) PROCESS_ENDSTOP(X, MAX);
#endif
PROCESS_ENDSTOP_X(MAX);
#endif
}
}
@ -768,44 +782,27 @@ void Endstops::update() {
if (stepper.axis_is_moving(Y_AXIS)) {
if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
#if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0)
#if ENABLED(Y_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Y, Y2, MIN);
#else
PROCESS_ENDSTOP(Y, MIN);
#endif
PROCESS_ENDSTOP_Y(MIN);
#endif
}
else { // +direction
#if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0)
#if ENABLED(Y_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Y, Y2, MAX);
#else
PROCESS_ENDSTOP(Y, MAX);
#endif
PROCESS_ENDSTOP_Y(MAX);
#endif
}
}
if (stepper.axis_is_moving(Z_AXIS)) {
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_DIR < 0)
#if ENABLED(Z_MULTI_ENDSTOPS)
#if NUM_Z_STEPPER_DRIVERS == 4
PROCESS_QUAD_ENDSTOP(Z, Z2, Z3, Z4, MIN);
#elif NUM_Z_STEPPER_DRIVERS == 3
PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MIN);
#else
PROCESS_DUAL_ENDSTOP(Z, Z2, MIN);
#endif
#else
if (true
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN);
&& z_probe_enabled
#elif HAS_CUSTOM_PROBE_PIN
if (!z_probe_enabled) PROCESS_ENDSTOP(Z, MIN);
#else
PROCESS_ENDSTOP(Z, MIN);
#endif
&& !z_probe_enabled
#endif
) PROCESS_ENDSTOP_Z(MIN);
#endif
// When closing the gap check the enabled probe
@ -816,16 +813,8 @@ void Endstops::update() {
else { // Z +direction. Gantry up, bed down.
#if HAS_Z_MAX || (Z_SPI_SENSORLESS && Z_HOME_DIR > 0)
#if ENABLED(Z_MULTI_ENDSTOPS)
#if NUM_Z_STEPPER_DRIVERS == 4
PROCESS_QUAD_ENDSTOP(Z, Z2, Z3, Z4, MAX);
#elif NUM_Z_STEPPER_DRIVERS == 3
PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MAX);
#else
PROCESS_DUAL_ENDSTOP(Z, Z2, MAX);
#endif
#elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN
// If this pin is not hijacked for the bed probe
// then it belongs to the Z endstop
PROCESS_ENDSTOP_Z(MAX);
#elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN // No probe or probe is Z_MIN || Probe is not Z_MAX
PROCESS_ENDSTOP(Z, MAX);
#endif
#endif

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